Reliable Control for a Class of MIMO Nonlinear Systems with Time-Delay by Adaptive Iterative Learning Control

This paper presents an iterative learning control strategy for a class of multiple-input multiple-output (MIMO) nonlinearly parameterized systems with unknown time-varying state delays and actuator faults. To deal with the non-linearity caused by the unknown time-varying state delays and actuator faults in the MIMO nonlinear system, the P-type iterative learning controller with a fully-saturated parameter updating law is proposed. By constructing a composite energy function(CEF), the convergence analysis of the tracking error is given. Finally, a numerical simulation is used to verify the effectiveness and correctness of the control scheme proposed in this paper.